大疆Matrice 100 (Pixhawk 1)

The DJI® Matrice quadcopter is a fully customizable and programmable flight platform. This build log provides build and configuration instructions for using the frame with the 3DR Pixhawk flight controller.

Key information:

• Frame: DJI Matrice 100
• Flight controller: Pixhawk 1

Parts List

* [DJI Matrice 100](http://store.dji.com/product/matrice-100) Just ESCs motors, and frame.

Motor Connections

See the Pixhawk Wiring Quickstart for autopilot assembly instructions.

Wiring Diagram

Wiring Harness

PWM Connections

Other views

Autopilot Outputs

参数

• At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
  • MC_PITCHRATE_P: 0.05
  • MC_PITCHRATE_D: 0.001
• The battery has 6 cells instead of the default 3
  • BAT_N_CELLS: 6

Video

{% youtube %}https://www.youtube.com/watch?v=3OGs0ONemGc{% endyoutube %}